import unittest

from decision_server.commands import checked as motion_checked
from decision_server.language_tasks import checked, resolve_target
from decision_server.protocol import (
    LANGUAGE_PRECONDITIONS,
    LANGUAGE_SKILLS,
    VERSION,
    DecisionError,
    validate_jev,
    validate_plan,
)
from decision_server.protocol import (
    LANGUAGE_VERSION as V,
)


def command(**changes):
    return (
        dict(
            version=V,
            action="pick_place",
            value=0,
            summary="搬运方块",
            objectId="block",
            targetId="B",
            position=[],
            supportId="table",
        )
        | changes
    )


class LanguageTests(unittest.TestCase):
    def test_named_and_coordinates(self):
        self.assertEqual(
            checked(command(), "抓起方块并搬到B区放下", motion_checked)["targetId"], "B"
        )
        for text, values in [
            ("搬到(25,50)厘米", [0.25, 0.5]),
            ("搬到 X=0.25 Y=0.50 Z=0.128", [0.25, 0.5, 0.128]),
        ]:
            result = checked(command(targetId="coordinates", position=values), text, motion_checked)
            self.assertEqual(
                resolve_target(result["targetId"], result["position"]),
                ([0.25, 0.5, 0.128], "table"),
            )

    def test_bad_targets_and_mismatch(self):
        for pos in ([0.8, 0.5], [0.25, 0.5, 0.5], [float("nan"), 0.5]):
            with self.assertRaises(DecisionError):
                resolve_target("coordinates", pos)
        with self.assertRaisesRegex(DecisionError, "command_mismatch"):
            checked(
                command(targetId="coordinates", position=[0.25, 0.6]),
                "搬到(0.25,0.50)",
                motion_checked,
            )
        for text in [
            "不要搬到 B 区",
            "搬到指定位置",
            "前进0.5米然后搬到 B 区",
            "搬到 A 区或者 B 区",
        ]:
            self.assertEqual(checked(command(), text, motion_checked)["action"], "clarify")

    def test_multiple_or_contradictory_coordinates_rejected(self):
        for instruction in ["搬到(0.25,0.5)然后到(0.25,0.6)", "搬到 B 区 (0.25,0.5)"]:
            with self.assertRaises(DecisionError):
                checked(command(), instruction, motion_checked)

    def test_v2_does_not_weaken_v1(self):
        plan = dict(
            version=V,
            objectId="block",
            goalId="placement",
            summary="计划",
            steps=[
                dict(skill=s, precondition=LANGUAGE_PRECONDITIONS[s], onFailure="stop")
                for s in LANGUAGE_SKILLS
            ],
        )
        validate_plan(plan, LANGUAGE_SKILLS, V)
        with self.assertRaises(DecisionError):
            validate_plan(plan, LANGUAGE_SKILLS, VERSION)
        d = dict(
            version=V,
            choice="stow",
            grasp="empty",
            diagnosis="none",
            recovery="continue",
            noul="allow",
            score="good",
            reason="verified_progress",
        )
        validate_jev(d, ["stow", "stop"], V)
        for field, value in [("noul", "yes"), ("score", 100), ("choice", "carry")]:
            with self.assertRaises(DecisionError):
                validate_jev(d | {field: value}, ["stow", "stop"], V)